https://scholars.lib.ntu.edu.tw/handle/123456789/580648
標題: | A model-free loop-shaping method based on iterative learning control | 作者: | Shih L.-W CHENG-WEI CHEN |
關鍵字: | Impulse response; Iterative methods; Learning algorithms; Learning systems; Numerical methods; Control inputs; Dynamical model; Feedback controller; Iterative learning control; Loop-shaping technique; Model matching problems; Tracking problem; Trajectory tracking problems; Two term control systems | 公開日期: | 2020 | 卷: | 53 | 起(迄)頁: | 1403-1408 | 來源出版物: | IFAC-PapersOnLine | 摘要: | Many techniques have been developed for the loop-shaping method in control design. While most loop-shaping methods apply a model of the open-loop controlled plant, the resulting performance depends on the accuracy of the dynamical model. This paper aims to develop a model-free loop-shaping technique. The core idea is to convert the model matching problem to a trajectory tracking problem. To achieve the desired loop gain, we need to determine the control input such that the system output tracks the impulse response of the loop gain function. In this paper, a model-free iterative learning control (ILC) algorithm is applied to solve this tracking problem. Once the ILC converges, the feedback controller that meets the desired loop gain can then be constructed. This method does not require the model of the controlled plant, hence it provides better performance of loop-shaping control design. The proposed method is validated through numerical simulation on a 3-rd order plant. Copyright ? 2020 The Authors. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0) |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85107651027&doi=10.1016%2fj.ifacol.2020.12.1896&partnerID=40&md5=fca8f603ed665267a5d59006265ccd6c https://scholars.lib.ntu.edu.tw/handle/123456789/580648 |
ISSN: | 24058963 | DOI: | 10.1016/j.ifacol.2020.12.1896 |
顯示於: | 電機工程學系 |
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